Original scientific paper

Fusing Time-of-Flight Cameras and Inertial Measurement Units for Ego-Motion Estimation

David Droeschel ; Autonomous Intelligent Systems Group, Institute of Computer Science, Rheinische Friedrich-Wilhelms-Universität Bonn, Bonn, Germany
Stefan May ; Department of Electrical Engineering, Precision, Engineering, Information Technology, Georg Simon Ohm University of Applied Sciences Nuremberg, Nürnberg, Germany
Dirk Holz ; Autonomous Intelligent Systems Group, Institute of Computer Science. Rheinische Friedrich-Wilhelms-Universität Bonn, Bonn, Germany
Sven Behnke ; Autonomous Intelligent Systems Group, Institute of Computer Science. Rheinische Friedrich-Wilhelms-Universität Bonn, Bonn, Germany

Abstract

This paper presents an approach for ego-motion estimation based on a Time-of-Flight (ToF) camera. It is applied in real-time on a mobile robot platform during mission. The proposed method utilizes the coherence of depth and reflectance data of ToF cameras by detecting image features on reflectance data and estimating the motion on related depth data. This motion estimate is fused with data from an inertial measurement unit in order to gain higher accuracy and robustness, especially in situations when image registration fails. Results are benchmarked against reference poses from an accurate laser ranger finder-based localization.

Keywords

Ego-Motion estimation; ToF camera; Sensor fusion

Hrčak ID:

76070

URI

https://hrcak.srce.hr/76070

Publication date:

30.12.2011.

Article data in other languages: croatian

Visits: 2.820 *